CN101773442B - Wearable ultrasonic guiding equipment - Google Patents
Wearable ultrasonic guiding equipment Download PDFInfo
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- CN101773442B CN101773442B CN201010034146XA CN201010034146A CN101773442B CN 101773442 B CN101773442 B CN 101773442B CN 201010034146X A CN201010034146X A CN 201010034146XA CN 201010034146 A CN201010034146 A CN 201010034146A CN 101773442 B CN101773442 B CN 101773442B
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Abstract
The invention provides wearable ultrasonic guiding equipment. The wearable ultrasonic guiding equipment comprises a plurality of ultrasonic wave receiving and transmitting units, a plurality of mounting brackets, a walking parameter detection module, a road condition analyzing and automatic alarm parameter regulating module, an alarm module and a power supply module, wherein the plurality of ultrasonic wave receiving and transmitting units are used for transmitting ultrasonic waves and receiving ultrasonic echo waves reflected by a barrier; the plurality of mounting brackets are used for mounting the ultrasonic wave receiving and transmitting units and worn on corresponding body parts of a blind user; the walking parameter detection module is used for acquiring walking parameters of the blind user; the road condition analyzing and automatic alarm parameter regulating module is used for judging the existence of the barrier in the front and the change of ground flatness and acquiring barrier meeting time when the blind user is walking at a current speed through the walking parameters; the alarm module is used for sending barrier existence information and corresponding alarm information to the blind user; and the power supply module is used for supplying power to each module. The device can liberate two hands of a blind person when the blind person is walking, can fully detect the barriers in front of the body of the blind person and the ground and makes an early alarm by using an audio signal which represents the time when the blinder user meets the barrier when the blinder user is walking at the current speed, so that the walking safety of the blinder person is ensured.
Description
Technical field
The present invention relates to blind person's Travel Aid field, more particularly relate to a kind of wearable ultrasonic blind guide device.
Background technology
In order to solve blind person's inconvenience of going on a journey, especially avoid the problem of obstacle on the road, be seeing-eye dog and blind-guiding stick by the blind person of the extensive employing aid system of taking action at present.
Seeing-eye dog is owing to need screw up discipline for a long time, and expensive, and working life is limited, needs in addition cooperate training could obtain better guide effect for a long time with the blind person, and is difficult in reality widely-used.
Blind-guiding stick can be divided into two kinds of traditional blind-guiding stick and electronics blind-guiding sticks.The tradition blind-guiding stick is simple in structure, only is the common wooden stick or the rod of other material, and its major function is exactly constantly to knock ground through the blind person to verify the solid obstacle in 0.5 meter in the place ahead.The electronics blind-guiding stick is through adding ultrasonic probe, infrared probe or photographic head is fixed by the place ahead and moving object is surveyed, and when finding obstacle, sends hydropac to blind person's user and arouses attention, and guides it to avoid obstacle.Through using the electron detection means, enlarged the detectable area of blind-guiding stick.
But, be difficult for being surveyed for half unsettled high obstacle because the height of blind-guiding stick is limited; As for adopting the blind person to report to the police to the range information of obstacle; What the blind person adjusted the distance is cognitive own just inaccurate; And can receive the influence of blind person's walking speed; Walked and can cause the unnecessary worry of blind person too early because of reporting to the police when slow, walking can be because of the untimely generation that causes collision accident of reporting to the police when too fast; For the variation of ground flat degrees such as the tunnel on road surface, the place ahead or step, need could survey through constantly knocking of blind-guiding stick, occur easily omitting; In addition, no matter be to use blind-guiding stick or seeing-eye dog, the blind person all need take a hands.
Summary of the invention
In order to solve the deficiency of existing technology for guiding blind problem; The present invention has designed a kind of wearable ultrasonic blind guide device; Can liberate blind person's in the walking process both hands; Can comprehensive detection blind person health the place ahead and the obstacle in the place ahead, ground, and run into the audio signal of obstacle time when representing the present speed walking and carry out early warning, thereby blind person's walking safety ensured.
According to an aspect of the present invention, a kind of ultrasonic blind guide device is provided, has it is characterized in that comprising:
One head mounting bracket is used to the person of being used and is worn on head;
A trunk mounting bracket is used to the person of being used and is worn on trunk;
At least one knee mounting bracket is used to the person of being used and is worn on knee;
A circuit box that supplies user to carry.
According to another aspect of the present invention, provide a kind of wearable ultrasonic blind guide device to comprise: a plurality of ultrasonic transmission/receptions unit is used to launch ultrasound wave and receives by the ultrasonic echo of barrier reflected back; A plurality of mounting brackets are used to install the ultrasonic transmission/reception unit, and are worn on blind person's user health corresponding site; Walking parameter detection module: the walking parameter that is used to obtain blind person's user; The automatic adjustment module of road condition analyzing and alarm parameters is used to judge whether the place ahead has the variation of barrier and ground flat degree, and obtains the time that the present speed walking time is run into obstacle through the walking parameter; Alarm module, whether be used for sending the place ahead to blind person's user has obstacle and corresponding warning information; Power module is used for to ultrasonic transmission/reception unit, walking parameter detection module, road condition analyzing and the automatic adjustment module of alarm parameters and alarm module power supply.
Described mounting bracket; Be used to install corresponding ultrasonic transmission/reception unit and be separately fixed at blind person's user head through rope band or vest; Trunk and both sides knee guarantee the ultrasonic transmission/reception unit towards dead ahead, thereby the barrier of these position dead aheads are effectively surveyed.Simultaneously, for square in front over the ground obstacle is surveyed, the support of both sides knee also can oblique below be installed a ultrasonic transmission/reception unit forward.
Described walking parameter detection module comprises: acceleration transducer, and being used for measuring blind person's user walking normal acceleration is the moment of maximum, i.e. the person's of being used of the rectangular moment of supporting leg shank and ground, and then acquisition step is frequently; Step-length is provided with the unit, is used to obtain the person's of being used step-length.
The automatic adjustment module of described road condition analyzing and alarm parameters comprises: control unit, be used to control ultrasonic transmission/reception unit emission ultrasound wave, and to the processing unit information of transmission ultrasonic emitting time; Processing unit, 1) be used to judge whether dead ahead has obstacle, if having, distance in the barrier of instantaneous all dead aheads of calculating between nearest barrier and blind person and the ultrasonic transmission/reception cell position that records this barrier; 2) be used to judge whether road surface, the place ahead has the variation of ground flat degrees such as tunnel or step,, calculate the distance of blind person to this obstacle if having; 3) be used for being converted into the time of running into obstacle when walking by present speed according to the distance that the walking parameter will arrive obstacle, when the time during less than the dangerous threshold value set to alarm module transmission process result.
Described alarm module comprises: decoding unit, and the result of the automatic adjustment module of road condition analyzing and alarm parameters being calculated gained converts corresponding alert audio signal into; Speaker is used for the alert audio signal is reported to blind person's user, points out it to note the various situation in the place ahead.The influence of adopting speaker to report to the police to reduce other acoustic informations to external world to obtain.
Advantage of the present invention comprises:
The time of 1, when the prompting of blind person's user is walked with present speed, running into obstacle through audio signal; Be the problem that warning message was brought with user to the distance of obstacle in the existing ultrasonic blind guide device can avoiding, as: that adjusts the distance is cognitive inaccurate; The influence of blind person's walking speed was walked and can be caused the unnecessary worry of blind person too early because of reporting to the police when slow, can be because of reporting to the police the untimely generation that causes collision accident when too fast and walk;
2, can survey the variation of ground flat degrees such as the tunnel on road surface, the place ahead or step.
3, wearable ultrasonic blind guide device is applicable to different sexes, the blind person of different heights, and liberate its both hands;
4, the ultrasonic transmission/reception unit is installed through support, be convenient to blind person's user and wear the ultrasonic transmission/reception unit, and action is convenient and comfortable;
5, behind head and metastomium installation ultrasonic transmission/reception unit, can conveniently survey half unsettled high obstacle.
Description of drawings
Fig. 1 is the structured flowchart of wearable ultrasonic blind guide device according to an embodiment of the invention;
Fig. 2 is a wearable ultrasonic blind guide schematic representation of apparatus according to an embodiment of the invention;
Fig. 3 is the sketch map that the trunk place is had nearest obstacle detection according to an embodiment of the invention;
Fig. 4 is according to an embodiment of the invention to the oriented sketch map of getting out of a predicament or an embarrassing situation and surveying in road surface, the place ahead.
The specific embodiment
As shown in Figure 1, wearable ultrasonic blind guide device according to an embodiment of the invention comprises: ultrasonic transmission/reception unit 1, walking parameter detection module 2, the automatic adjustment module 3 of road condition analyzing and alarm parameters, alarm module 4 and power module 5.
The ultrasonic transmission/reception unit is divided into according to riding position: head ultrasonic transmission/reception unit 11, trunk ultrasonic transmission/reception unit 12; Left side knee joint ultrasonic transmission/reception unit I13; Right knee joint ultrasonic transmission/reception unit I14, left knee joint ultrasonic transmission/reception unit II15, right knee joint ultrasonic transmission/reception unit II16.Walking parameter detection module 2 comprises: acceleration transducer 21 is provided with unit 22 with step-length.The automatic adjustment module 3 of road condition analyzing and alarm parameters comprises: control unit 31 and processing unit 32.Alarm module 4 comprises: decoding unit 41 and speaker 42.
According to one embodiment of present invention, as shown in Figures 2 and 3, be used for the mounting bracket that user wears and comprise head mounting bracket 71, trunk mounting bracket 72, left knee joint mounting bracket 73 and right knee joint mounting bracket 74.
According to one embodiment of present invention, each is equipped with a head ultrasonic transmission/reception unit 11 and trunk ultrasonic transmission/reception unit 12 towards dead ahead on head mounting bracket 71 and the trunk mounting bracket 72.
According to one embodiment of present invention, left knee joint ultrasonic transmission/reception unit I 13 is installed and towards preceding oblique below left side knee joint ultrasonic transmission/reception unit II15 (such as 15 ° of angles) towards dead ahead respectively on the left knee joint mounting bracket 73; Right knee joint ultrasonic transmission/reception unit I 14 is installed and right knee joint ultrasonic transmission/reception unit II16 towards dead ahead respectively on the right knee joint mounting bracket 74 towards preceding oblique below.
According to one embodiment of present invention, the left and right sides knee of user is worn an above-mentioned left knee joint mounting bracket 73 and right knee joint mounting bracket 74 respectively.
By the ultrasonic transmission/reception unit 1 that comprises on the above-mentioned mounting bracket 7, can be to head, the barrier of trunk and knee dead ahead and the variation of ground flat degree can both effectively be surveyed.
According to one embodiment of present invention, walking parameter detection module 2, the automatic adjustment module 3 of road condition analyzing and alarm parameters, alarm module 4 is encapsulated in the circuit box 6 with power module 5; Ultrasonic transmission/reception unit 1 through power line and data wire respectively with this circuit box 6 in power module 5 be connected with road condition analyzing and the automatic adjustment module 3 of alarm parameters.More accurate for the certainty of measurement that makes acceleration transducer 21, blind person's user can be worn on this circuit box 6 that has encapsulated acceleration transducer 21 between its waist.Power-on switch 61, blind person's user are provided with in circuit box 6 step-lengths according to own height on the guidance panel of unit 22 and set its step-length of height acquisition, and wearable ultrasonic blind guide device will be started working.At first; More left respectively knee joint ultrasonic transmission/reception unit I 13 of processing unit 32 and right knee joint ultrasonic transmission/reception unit I 14 distance values of surveying; And left knee joint ultrasonic transmission/reception unit II15 and right knee joint ultrasonic transmission/reception unit distance value that II16 surveys, select for use the distance value of surveying bigger respectively as the supporting leg knee to the place ahead barrier and earth bulging distance.Then; Processing unit 32 is through head ultrasonic transmission/reception unit 11; Trunk ultrasonic transmission/reception unit 12; Left side knee joint ultrasonic transmission/reception unit I 13, right knee joint ultrasonic transmission/reception unit I 14 transmit and receive the distance and the ultrasonic transmission/reception cell position that records this barrier that hyperacoustic time difference judges whether dead ahead has barrier and calculate nearest barrier; Ultrasonic transmission/reception unit II (15 or 16) through the supporting leg knee nearest two supporting leg shanks and the rectangular moment of ground surveyed judge the variation of road surface, the place ahead ground flat degree to the change amount of ground distance, and calculate the distance of obstacle according to last one the distance constantly surveyed to ground; The step frequency and the step-length that obtain through acceleration transducer 21 are provided with unit 22; The step-length that is used to obtain the person's of being used step-length information setting is tried to achieve the instantaneous leg speed of blind person's user, is converted into the time of running into obstacle when walking by present speed thereby will arrive distance of obstacle.When time during less than the dangerous threshold value set; The decoding unit 41 that result is imported alarm module 4 into converts corresponding alert audio signal into and reports to blind person's user through speaker 42; Whether prompting the place ahead has obstacle; Run into the time of obstacle when the height of obstacle and present speed walking, thereby ensure its walking safety and liberate its both hands.
There is barrier and nearest at trunk height place, instance 1 the place ahead
As shown in Figure 3, have in the place ahead of blind person walking one with trunk with high billboard.The blind person is in when walking, head ultrasonic transmission/reception unit 11, and trunk ultrasonic transmission/reception unit 12, left knee joint ultrasonic transmission/reception unit I13 and right knee joint ultrasonic transmission/reception unit I14 can carry out real-time detection to the barrier in the place ahead.Processing unit 32 calculates and comparison head ultrasonic transmission/reception unit 11; Trunk ultrasonic transmission/reception unit 12 can confirm that with the obstacle distance that left knee joint ultrasonic transmission/reception unit I 13 (in the moment shown in Figure 3, left lower limb is a supporting leg) is surveyed there is barrier and nearest at trunk height place, the place ahead.Simultaneously, the step that processing unit 32 records according to acceleration transducer 21 is provided with the instantaneous leg speed that step-length that unit 22 obtains is tried to achieve blind person's user with step-length frequently, finally obtains the time of running into barrier when present speed is walked.When time during less than the dangerous threshold value set; This is handled the result import the decoding unit 41 of alarm module 4 into and convert corresponding alert audio signal into and report to blind person's user, point out it to notice that there is the time of when the barrier at trunk place and present speed walking, running into barrier in the place ahead through speaker 42.
Oriented the getting out of a predicament or an embarrassing situation in road surface, instance 2 the place ahead
As shown in Figure 4, on the road surface, the place ahead of blind person's walking a downward step is arranged.The blind person is when walking, and left knee joint ultrasonic transmission/reception unit II15 and right knee joint ultrasonic transmission/reception unit II16 can survey by square in front over the ground obstacle.In the supporting leg shank and the rectangular moment of ground, ultrasonic transmission/reception unit II (15 or 16) the institute ultrasonic waves transmitted of supporting leg knee receives after ground return, is calculated by processing unit 32 and can get a distance value, and is poor with the distance value in the previous moment.As shown in Figure 4, in first moment, right lower limb is a supporting leg; In second moment, left lower limb is a supporting leg; In the 3rd moment, right lower limb is a supporting leg.When there is step on road surface, the place ahead up-to-date one apart from difference rapid increase suddenly.Processing unit 32 is through with the distance value of previous moment with tiltedly put ultrasonic transmission/reception unit 1 and make product with horizontal cosine of an angle, again with step-length that unit 22 obtains is set by step-length makes difference and obtain the distance of this moment apart from step.Simultaneously, the step that processing unit 32 records according to acceleration transducer 21 frequently and step-length the instantaneous leg speed that step-length that unit 22 obtains is tried to achieve blind person's user is set, finally obtain the time of running into step when walking by present speed.When time during less than the dangerous threshold value set; This is handled the result import the decoding unit 41 of alarm module 4 into and convert corresponding alert audio signal into and report to blind person's user, the time of pointing out it to notice that there is step on road surface, the place ahead and run into step when walking by present speed through speaker 42.
According to an aspect of the present invention, a kind of ultrasonic blind guide device is provided, has it is characterized in that comprising:
One head mounting bracket 71 is used to the person of being used and is worn on head;
A trunk mounting bracket 72 is used to the person of being used and is worn on trunk;
At least one knee mounting bracket 73,74 is used to the person of being used and is worn on knee;
A circuit box 6 that supplies user to carry.
According to a further aspect of the present invention, above-mentioned ultrasonic blind guide device further comprises:
Be installed in a head ultrasonic transmission/reception unit 11 on the said head mounting bracket 71 towards dead ahead,
Be installed in a trunk ultrasonic transmission/reception unit 12 on the said trunk mounting bracket 72 towards dead ahead,
Be installed in a left knee joint ultrasonic transmission/reception unit I 13 and a left knee joint ultrasonic transmission/reception unit II15 on the said left knee joint mounting bracket 73 respectively towards dead ahead with towards preceding oblique below,
Be installed in a right knee joint ultrasonic transmission/reception unit I 14 and a right knee joint ultrasonic transmission/reception unit II16 on the said right knee joint mounting bracket 74 respectively towards dead ahead with towards preceding oblique below,
Be included in road condition analyzing and the automatic adjustment module 3 of alarm parameters in the said circuit box 6, be used to judge whether the place ahead has the variation of barrier and ground flat degree, and obtain the time that the present speed walking time is run into obstacle through the walking parameter;
Be included in the walking parameter detection module 2 in the said circuit box 6, be used to obtain the walking parameter of blind person's user;
Whether be included in the alarm module 4 in the said circuit box 6, being used for sending the place ahead to blind person's user has obstacle and corresponding warning information;
Be included in the power module 5 in the said circuit box 6, be used for to each module for power supply;
Wherein each said ultrasonic transmission/reception unit 1 is used to launch ultrasound wave and receives by the ultrasonic echo of barrier reflected back.
According to a further aspect of the present invention, above-mentioned at least one knee mounting bracket 73,74 comprises a left knee joint mounting bracket 73 and a right knee joint left side knee joint mounting bracket 74, is used to the person of being used and is worn on left and right sides knee respectively.
According to a further aspect of the present invention, the said walking parameter detection module 2 of above-mentioned ultrasonic blind guide device comprises:
Step-length is provided with unit 22, is used for confirming according to the person's of being used height of setting the person's of being used step-length information.
According to a further aspect of the present invention, the automatic adjustment module 3 of above-mentioned road condition analyzing and alarm parameters through head ultrasonic transmission/reception unit 11, trunk ultrasonic transmission/reception unit 12 and supporting leg knee towards ultrasonic transmission/reception unit 13 that dead ahead is installed or the result of 14 real-time detections judge whether dead ahead has obstacle and calculate the distance of nearest barrier and record the ultrasonic transmission/reception cell position of this barrier;
The automatic adjustment module 3 of said road condition analyzing and alarm parameters judges through the ultrasonic transmission/ reception unit 15 or 16 results in the rectangular moment detection of supporting leg shank and ground of supporting leg knee towards preceding oblique below whether road surface, the place ahead has the variation of ground flat degrees such as tunnel or step and calculate the distance of blind person to this obstacle;
The time of running into obstacle when the distance that the person's of being used walking parameter that the automatic adjustment module 3 of said road condition analyzing and alarm parameters is obtained according to walking parameter detection module 2 will arrive obstacle is converted into and walks by present speed, when the time during less than the dangerous threshold value set to alarm module 4 transmission process results.
The drawing reference numeral explanation
Ultrasonic transmission/reception unit 1, head ultrasonic transmission/reception unit 11, trunk ultrasonic transmission/reception unit 12, left knee joint ultrasonic transmission/reception unit I 13, right knee joint ultrasonic transmission/reception unit I 14; Left side knee joint ultrasonic transmission/reception unit II15, right knee joint ultrasonic transmission/reception unit `16, walking parameter detection module 2, acceleration transducer 21, step-length is provided with unit 22; The automatic adjustment module 3 of road condition analyzing and alarm parameters, control unit 31, processing unit 32, alarm module 3, decoding unit 41; Speaker 42, power module 5, circuit box 6, on and off switch 61; Mounting bracket 7, head mounting bracket 71, trunk mounting bracket 72, left knee joint mounting bracket 73, right knee joint mounting bracket 73.
Should be understood that; In above narration and explanation to just explanation but not determinate of description that the present invention carried out; And like enclosed under the prerequisite of the present invention that claims limit not breaking away from, can carry out various changes, distortion and/or revise the foregoing description.
Claims (3)
1. ultrasonic blind guide device is characterized in that comprising:
One head mounting bracket (71) is used to the person of being used and is worn on head;
A trunk mounting bracket (72) is used to the person of being used and is worn on trunk;
At least one knee mounting bracket (73,74) is used to the person of being used and is worn on knee;
A circuit box (6) that supplies user to carry;
Wherein said at least one knee mounting bracket (73,74) comprises a left knee joint mounting bracket (73) or/and a right knee joint left side knee joint mounting bracket (74) is used to the person of being used and is worn on left and right sides knee respectively;
And said ultrasonic blind guide device further comprises:
Be installed in a head ultrasonic transmission/reception unit (11) on the said head mounting bracket (71) towards dead ahead,
Be installed in a trunk ultrasonic transmission/reception unit (12) on the said trunk mounting bracket (72) towards dead ahead,
Be installed in a left knee joint ultrasonic transmission/reception unit I (13) and a left knee joint ultrasonic transmission/reception unit II (15) on the said left knee joint mounting bracket (73) respectively towards dead ahead with towards preceding oblique below,
Be installed in a right knee joint ultrasonic transmission/reception unit I (14) and a right knee joint ultrasonic transmission/reception unit II (16) on the said right knee joint mounting bracket (74) respectively towards dead ahead with towards preceding oblique below,
Be included in road condition analyzing and the automatic adjustment module of alarm parameters (3) in the said circuit box (6), be used to judge whether the place ahead has the variation of barrier and ground flat degree, and obtain the time that the present speed walking time is run into obstacle through the walking parameter,
Be included in the walking parameter detection module (2) in the said circuit box (6), be used to obtain the walking parameter of blind person's user,
Whether be included in the alarm module (4) in the said circuit box (6), being used for sending the place ahead to blind person's user has obstacle and corresponding warning information,
Be included in the power module (5) in the said circuit box (6), be used for to each module for power supply,
Wherein each said ultrasonic transmission/reception unit (11-16) is used to launch ultrasound wave and receives by the ultrasonic echo of barrier reflected back.
2. ultrasonic blind guide device according to claim 1 is characterized in that:
Said walking parameter detection module (2) comprising:
Acceleration transducer (21) is used for measuring the person's of being used gait cycle midstance and swing acquisition step in the moment frequency information in mid-term,
Step-length is provided with unit (22), is used for confirming according to the person's of being used height of setting the person's of being used step-length information.
3. ultrasonic blind guide device according to claim 2 is characterized in that:
The automatic adjustment module of said road condition analyzing and alarm parameters (3) is judged the distance and the ultrasonic transmission/reception cell position that records this barrier whether dead ahead has obstacle and calculate nearest barrier through the result of ultrasonic transmission/reception unit (the 13 or 14) real-time detection that head ultrasonic transmission/reception unit (11), trunk ultrasonic transmission/reception unit (12) and supporting leg knee are installed towards dead ahead;
The automatic adjustment module of said road condition analyzing and alarm parameters (3) judges in the result of the rectangular moment detection of supporting leg shank and ground whether road surface, the place ahead has the variation of ground flat degrees such as tunnel or step and calculate the distance of blind person to this obstacle towards the ultrasonic transmission/reception unit (15 or 16) of preceding oblique below through the supporting leg knee;
The time of running into obstacle when the distance that the person's of being used walking parameter that the automatic adjustment module of said road condition analyzing and alarm parameters (3) is obtained according to walking parameter detection module (2) will arrive obstacle is converted into and walks by present speed, when the time during less than the dangerous threshold value set to alarm module (4) transmission process result.
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| CN201010034146XA CN101773442B (en) | 2010-01-15 | 2010-01-15 | Wearable ultrasonic guiding equipment |
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| CN201010034146XA CN101773442B (en) | 2010-01-15 | 2010-01-15 | Wearable ultrasonic guiding equipment |
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| CN101773442A CN101773442A (en) | 2010-07-14 |
| CN101773442B true CN101773442B (en) | 2012-02-15 |
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| CN201010034146XA Expired - Fee Related CN101773442B (en) | 2010-01-15 | 2010-01-15 | Wearable ultrasonic guiding equipment |
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2010
- 2010-01-15 CN CN201010034146XA patent/CN101773442B/en not_active Expired - Fee Related
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